/*
Adept MobileRobots Robotics Interface for Applications (ARIA)
Copyright (C) 2004, 2005 ActivMedia Robotics LLC
Copyright (C) 2006, 2007, 2008, 2009, 2010 MobileRobots Inc.
Copyright (C) 2011, 2012, 2013 Adept Technology

     This program is free software; you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
     the Free Software Foundation; either version 2 of the License, or
     (at your option) any later version.

     This program is distributed in the hope that it will be useful,
     but WITHOUT ANY WARRANTY; without even the implied warranty of
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.

     You should have received a copy of the GNU General Public License
     along with this program; if not, write to the Free Software
     Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

If you wish to redistribute ARIA under different terms, contact 
Adept MobileRobots for information about a commercial version of ARIA at 
robots@mobilerobots.com or 
Adept MobileRobots, 10 Columbia Drive, Amherst, NH 03031; +1-603-881-7960
*/

/** @example gripperExample.cpp Example program demonstrating use of the Pioneer gripper.
 *
 *  Shows how to control the Pioneer 2DOF gripper accessory.
 *  In addition to the arrow keys to teleoperate the robot,
 *  Use the following keyboard keys to control it:
 *    u     Lift the gripper up
 *    d     Lift the gripper down
 *    o     Open the gripper
 *    c     Close the gripper
 *    s     Stop gripper movement.
 *
 *
 *  @sa ArModeGripper (the gripper control mode used in the "demo" program)
 *
*/

#include "Aria.h"

// Adds robot callback to print gripper status.
class PrintGripStatus
{
  ArGripper* myGripper;
  ArRobot* myRobot;
  ArFunctorC<PrintGripStatus> myPrintCB;
public:
  PrintGripStatus(ArGripper* gripper, ArRobot* rbt) : 
    myGripper(gripper), myRobot(rbt),
    myPrintCB(this, &PrintGripStatus::printStatus)
  {
    myRobot->addUserTask("PrintGripStatus", 10, &myPrintCB);
  }


  void printStatus()
  {
    myGripper->logState();
    char gs[9], ds[9];
    int bit; 
    int ch;
    unsigned char digin = myRobot->getDigIn();
    unsigned char gripstate = (myRobot->getAnalogPortSelected() >> 8);
    for(bit = 7, ch = 0; bit >= 0; bit--,ch++)
      gs[ch] = ((gripstate>>bit)&1) ? '1' : '0';
    gs[8] = 0;
    for(bit = 7, ch = 0; bit >= 0; bit--,ch++)
      ds[ch] = ((digin>>bit)&1) ? '1' : '0';
    ds[8] = 0;
    printf("GRIPSTATE:%s DIGIN:%s\n", gs, ds);
  }
};

// Adds key handler callbacks for controlling the gripper
class GripperControlHandler
{
  ArGripper* myGripper;
  ArFunctorC<GripperControlHandler> myUpCB;
  ArFunctorC<GripperControlHandler> myDownCB;
  ArFunctorC<GripperControlHandler> myOpenCB;
  ArFunctorC<GripperControlHandler> myCloseCB;
  ArFunctorC<GripperControlHandler> myStopCB;
public:
  GripperControlHandler(ArGripper* gripper) : 
    myGripper(gripper),
    myUpCB(this, &GripperControlHandler::liftUp),
    myDownCB(this, &GripperControlHandler::liftDown),
    myOpenCB(this, &GripperControlHandler::open),
    myCloseCB(this, &GripperControlHandler::close),
    myStopCB(this, &GripperControlHandler::stop)
  {
  }

  void addKeyHandlers(ArRobot *robot)
  {
    ArKeyHandler *keyHandler = Aria::getKeyHandler();
    if(keyHandler == NULL)
    {
      keyHandler = new ArKeyHandler();
      Aria::setKeyHandler(keyHandler);
      robot->attachKeyHandler(keyHandler);
    }
    keyHandler->addKeyHandler(ArKeyHandler::PAGEUP, &myUpCB);
    keyHandler->addKeyHandler('u', &myUpCB);
    keyHandler->addKeyHandler(ArKeyHandler::PAGEDOWN, &myDownCB);
    keyHandler->addKeyHandler('d', &myDownCB);
    keyHandler->addKeyHandler('o', &myOpenCB);
    keyHandler->addKeyHandler('c', &myCloseCB);
    keyHandler->addKeyHandler('s', &myStopCB);
  }

  void liftUp()
  {
    ArLog::log(ArLog::Normal, "Moving gripper lift up...");
    myGripper->liftUp();
  }

  void liftDown()
  {
    ArLog::log(ArLog::Normal, "Moving gripper lift down...");
    myGripper->liftDown();
  }

  void stop()
  {
    ArLog::log(ArLog::Normal, "Stopping gripper...");
    myGripper->gripperHalt(); // stops both lift an grip
    //myGripper->liftStop(); // stops just the lift
    //myGripper->gripStop(); // stops just the gripper
  }

  void close()
  {
    ArLog::log(ArLog::Normal, "Closing gripper...");
    myGripper->gripClose();
  }

  void open()
  {
    ArLog::log(ArLog::Normal, "Opening gripper...");
    myGripper->gripOpen();
  }

};

int main(int argc, char **argv) 
{

  Aria::init();
  ArRobot robot;
  ArArgumentParser argParser(&argc, argv);
  ArSimpleConnector connector(&argParser);
  ArGripper gripper(&robot);
  ArSonarDevice sonar;
  robot.addRangeDevice(&sonar);

  argParser.loadDefaultArguments();

  if (!Aria::parseArgs() || !argParser.checkHelpAndWarnUnparsed())
  {
    Aria::logOptions();
    Aria::shutdown();
    return 1;
  }
  
  if (!connector.connectRobot(&robot))
  {
    ArLog::log(ArLog::Terse, "gripperExample: Could not connect to robot... exiting");
    Aria::shutdown();
    return 2;
  }
  ArLog::log(ArLog::Normal, "gripperExample: Connected to robot.");

  ArLog::log(ArLog::Normal, "gripperExample: GripperType=%d", gripper.getType());
  gripper.logState();
  if(gripper.getType() == ArGripper::NOGRIPPER)
  {
    ArLog::log(ArLog::Terse, "gripperExample: Error: Robot does not have a gripper. Exiting.");
    Aria::shutdown();
    return -1;
  }

  // Teleoperation actions with obstacle-collision avoidance
  ArActionLimiterTableSensor tableLimit;
  robot.addAction(&tableLimit, 110);
  ArActionLimiterForwards limitNearAction("near", 300, 600, 250);
  robot.addAction(&limitNearAction, 100);
  ArActionLimiterForwards limitFarAction("far", 300, 1100, 400);
  robot.addAction(&limitFarAction, 90);
  ArActionLimiterBackwards limitBackAction;
  robot.addAction(&limitBackAction, 50);
  ArActionJoydrive joydriveAction("joydrive", 400, 15);
  robot.addAction(&joydriveAction, 40);
  joydriveAction.setStopIfNoButtonPressed(false);
  ArActionKeydrive keydriveAction;
  robot.addAction(&keydriveAction, 30);
  

  // Handlers to control the gripper and print out info (classes defined above)
  PrintGripStatus printStatus(&gripper, &robot);
  GripperControlHandler gripControl(&gripper);
  gripControl.addKeyHandlers(&robot);

  // enable motors and run (if we lose connection to the robot, exit)
  ArLog::log(ArLog::Normal, "You may now operate the robot with arrow keys or joystick. Operate the gripper with the u, d, o, c, and page up/page down keys.");
  robot.enableMotors();
  robot.run(true);
  
  Aria::shutdown();
  return 0;
}